// /*
//  * Copyright 2018 The Cartographer Authors
//  *
//  * Licensed under the Apache License, Version 2.0 (the "License");
//  * you may not use this file except in compliance with the License.
//  * You may obtain a copy of the License at
//  *
//  *      http://www.apache.org/licenses/LICENSE-2.0
//  *
//  * Unless required by applicable law or agreed to in writing, software
//  * distributed under the License is distributed on an "AS IS" BASIS,
//  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
//  * See the License for the specific language governing permissions and
//  * limitations under the License.
//  */

// #ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
// #define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_

// #include "cartographer/mapping/internal/local_slam_result_data.h"
// #include "cartographer/mapping/internal/submap_controller.h"
// // #include "cartographer/mapping/trajectory_builder_interface.h"
// #include "cartographer/mapping/internal/2d/global_trajectory_builder_2d.h"

// namespace cartographer {
// namespace mapping {

// class LocalSlamResult2D {
//  public:
//   LocalSlamResult2D(
//       const std::string& sensor_id,
//       const mapping::proto::LocalSlamResultData local_slam_result_data,
//       SubmapController<mapping::Submap2D>* submap_controller)
//       : LocalSlamResultData(sensor_id, common::FromUniversal(
//                                            local_slam_result_data.timestamp())),
//         sensor_id_(sensor_id),
//         local_slam_result_data_(local_slam_result_data),
//         submap_controller_(submap_controller) {}

//   void AddToTrajectoryBuilder(
//       GlobalTrajectoryBuilder2D* const trajectory_builder);
//   void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const;

//  private:
//   const std::string sensor_id_;
//   const mapping::proto::LocalSlamResultData local_slam_result_data_;
//   SubmapController<mapping::Submap2D>* submap_controller_;
// };

// }  // namespace mapping
// }  // namespace cartographer

// #endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
